WO2023149232A1 - Continuum robot control system and continuum robot control method - Google Patents

Abstract

This control device (300): estimates, on the basis of the distal-end position of a bending portion (120) of a continuum robot (100) detected after the bending portion (120) is inserted into a lumen of a subject and information pertaining to the structure of the lumen, the angle limit value of the bending angle of the bending portion (120) when a feature region related to the path of the lumen is included in a prescribed area or greater within the field of view of an imaging unit (140) in a case in which the bending portion (120) is bent in a prescribed direction; and limits the drive of a drive unit (150) such that the bending portion (120) bends within the range of the estimated angle limit value when the bending portion (120) is bent in the prescribed direction.

Description

Continuous robot control system and continuous robot control method

The present invention relates to a continuum robot control system and a continuum robot control method for controlling a continuum robot equipped with an imaging unit.

In recent years, attention has been focused on minimally invasive medicine to reduce the burden on subjects such as patients and improve QOL after treatment and examination. A representative example of minimally invasive medicine is surgery and examination using an endoscope. For example, laparoscopic surgery can reduce surgical wounds compared to conventional open surgery, so it has the merit of not only shortening the required hospital stay after surgery but also being cosmetically superior.

A flexible endoscope is known as an endoscope used in minimally invasive medicine. In this flexible endoscope, since the insertion section inserted into the inside of the subject is made of a bendable member, it can be used even in curved organs such as the esophagus, large intestine, and lungs without compressing the tissue. It can be inserted inside the subject to reduce the burden on the subject. Furthermore, if the actuator is used to drive the insertion section of the flexible endoscope, and the posture of the insertion section is automatically controlled so as to follow the internal path of the subject, the burden on the subject can be further reduced. can be expected. Therefore, research and development of a mechanism of a continuum robot that can be used as a flexible endoscope and a control method thereof have been actively conducted.

When inserting such a continuum robot into the lumen of a subject, a user such as a doctor needs to operate the continuum robot so as not to make strong contact with the lumen. This is because when the continuum robot comes into contact with the lumen, the continuum robot moves in a direction different from the direction intended by the user due to the force acting between the continuum robot and the lumen, resulting in poor operability. to put away. Furthermore, if the continuum robot makes strong contact with the lumen, the continuum robot may be damaged. In the conventional technology, the user refers to the image of the image pickup unit (camera) installed in the insertion part of the continuum robot, or the 2D image such as the preoperative CT or MRI medical image, while viewing the continuum. operate the robot. However, since it is not possible to directly observe the insertion portion of the continuum robot inside the subject, in order not to accidentally operate the continuum robot in a direction that strongly contacts the lumen, I had to get used to it.

In response to such a problem, Patent Document 1 describes an example of a continuous body robot that limits the bending angle of a bending portion that is an insertion portion based on the volume of an organ to be inspected or treated. . Specifically, in Patent Literature 1, a working space having a volume equivalent to the volume of the heart is defined with the heart as the target, and the insertion section is configured so that the operating range of the distal end of the robot is limited within the working space. The bending angle of a certain bending portion is controlled. As a result, it is possible to reduce the risk of the continuum robot coming into strong contact with an organ due to an erroneous operation by the user.

Japanese Patent Publication No. 2007-527296

However, with regard to the technique described in Patent Document 1, depending on the organ to be inspected or treated or the procedure, it is necessary to limit the bending angle of the bending portion, which is the insertion portion of the continuous robot, based on the volume of the organ. Defining a workspace is difficult. Examples of such procedures include, for example, a lung biopsy in which tissue suspected of having a lesion is taken from deep within the lung. Specifically, in this lung biopsy, first, a user such as a doctor inserts the continuum robot into the trachea through the mouth or nose of the subject. Subsequently, the user operates the continuum robot along the shape of the subject's bronchi while referring to image information such as an imaging unit (camera) installed at the tip of the continuum robot. At this time, in order to apply the technique described in Patent Literature 1 to this lung biopsy, it is necessary to define the working space so as to accurately match the shape of the subject's bronchi. This is because the diameter of the bronchus is slightly larger than that of the continuum robot. This is because bending is permitted even though it should be restricted. And in the lungs, it is difficult to define the working space with good accuracy. This is because the bronchi are complicatedly three-dimensionally curved, and the shape of the bronchi changes according to the respiration of the subject. Therefore, for a subject such as a lung, the working space of the continuum robot is defined by a method different from that in Patent Document 1, and the risk of operating the continuum robot in a direction that strongly contacts the lumen of the subject is avoided. need to be able to reduce it.

The present invention has been made in view of such problems, and an object of the present invention is to provide a mechanism that can reduce the risk of operating a continuum robot in a direction that strongly contacts the lumen of a subject. .

A continuum robot control system according to the present invention includes a bending portion that bends with respect to a reference axis by driving a linear member, a driving portion that drives the linear member, and a driving portion that is arranged near the tip of the bending portion. and a control device for controlling an operation of the continuous robot, wherein the control device is configured such that the bending portion is a tube of a subject to be inspected. When the bending portion is bent in a predetermined direction based on the tip position of the bending portion detected after being inserted into the cavity and the structural information of the lumen, the tube is in the field of view of the imaging unit. angle estimating means for estimating an angle limit value of the bending angle of the bending portion when a characteristic region related to the path of the cavity is included in a predetermined area or more; and angle limiting means for limiting the driving of the driving portion so that the bending portion bends within the range of the angle limiting value.

The present invention also includes a continuum robot control method by the continuum robot control system described above.

According to the present invention, it is possible to reduce the risk of operating the continuum robot in the direction of strong contact with the lumen of the subject.

1 is a schematic diagram showing an example of a schematic configuration of a continuum robot control system according to a first embodiment of the present invention; FIG. 1 is a schematic diagram showing an example of a schematic configuration of a continuous body robot according to a first embodiment of the present invention; FIG. FIG. 3 is a schematic diagram showing an example of a schematic configuration of a bending portion shown in FIG. 2; FIG. 3 is a schematic diagram showing a robot coordinate system and a camera coordinate system used in control by the continuum robot control system according to the first embodiment of the present invention; 1 is a schematic diagram showing an example of a schematic configuration of a control device according to a first embodiment of the present invention; FIG. FIG. 6 is a flow chart showing an example of a procedure of iterative calculation when obtaining a bending angle limit value in the angle limit value estimating unit of FIG. 5; FIG. FIG. 7 is a schematic diagram showing an example of the functional configuration of an angle limit value estimating unit that performs the process of step S103 in FIG. 6; FIG. 4 is a diagram showing the first embodiment of the present invention and showing an example of the posture of the continuous body robot inside the subject; FIG. 4 is a diagram showing the first embodiment of the present invention and showing an example of the posture of the continuous body robot inside the subject; FIG. 4 is a diagram showing the first embodiment of the present invention and showing an example of the posture of the continuous body robot inside the subject; FIG. 8B shows the first embodiment of the present invention, and shows an example of a camera image output by the imaging unit when the continuum robot assumes the postures of FIGS. 8A, 8B, and 8C. FIG. 8B shows the first embodiment of the present invention, and shows an example of a camera image output by the imaging unit when the continuum robot assumes the postures of FIGS. 8A, 8B, and 8C. FIG. 8B shows the first embodiment of the present invention, and shows an example of a camera image output by the imaging unit when the continuum robot assumes the postures of FIGS. 8A, 8B, and 8C. FIG. 5 is a diagram showing an example of a mode in which the bending angle limit value of the bending portion of the continuous body robot according to the first embodiment of the present invention can be increased; FIG. 5 is a diagram showing an example of a mode in which the bending angle limit value of the bending portion of the continuous body robot according to the first embodiment of the present invention can be increased; FIG. 5 is a diagram showing an example of a mode in which the bending angle limit value of the bending portion of the continuous body robot according to the first embodiment of the present invention can be increased; FIG. 5 is a schematic diagram showing an example of a schematic configuration of a continuous body robot control system according to a second embodiment of the present invention; It is a schematic diagram which shows an example of schematic structure of the control apparatus which concerns on the 2nd Embodiment of this invention. FIG. 10 is a diagram showing the second embodiment of the present invention and showing an example of the posture of the continuous robot inside the subject; FIG. 10 is a diagram showing the second embodiment of the present invention and showing an example of the posture of the continuous robot inside the subject; FIG. 10 is a diagram showing the second embodiment of the present invention and showing an example of the posture of the continuous robot inside the subject; 13A, 13B, and 13C, showing an example of a camera image output by the imaging unit when the continuum robot assumes the postures of FIGS. 13A, 13B, and 13C, according to the second embodiment of the present invention; FIG. 13A, 13B, and 13C, showing an example of a camera image output by the imaging unit when the continuum robot assumes the postures of FIGS. 13A, 13B, and 13C, according to the second embodiment of the present invention; FIG. 13A, 13B, and 13C, showing an example of a camera image output by the imaging unit when the continuum robot assumes the postures of FIGS. 13A, 13B, and 13C, according to the second embodiment of the present invention; FIG. FIG. 11 is a schematic diagram showing an example of a schematic configuration of a continuous body robot control system according to a third embodiment of the present invention; FIG. 11 is a schematic diagram showing an example of a plurality of bending portions provided in a continuous body robot according to a third embodiment of the present invention; It is a schematic diagram which shows an example of schematic structure of the control apparatus which concerns on the 3rd Embodiment of this invention.

The form (embodiment) for carrying out the present invention will be described below with reference to the drawings.

(First embodiment)
First, a first embodiment of the present invention will be described.

In this embodiment, an example of a continuum robot control system including a continuum robot having a bending section capable of bending in three dimensions and a control device for controlling the motion of the continuum robot will be described. First, the configuration of the continuous robot control system according to this embodiment will be described, and then the configuration of the continuous robot according to this embodiment will be described. Subsequently, a method for limiting the bending angle of the bending portion in the control device will be explained, and finally an example of a procedure for collecting a sample from the deep part of the lung (subject) of a subject such as a patient will be explained.

[1-1: Configuration of continuum robot control system]
FIG. 1 is a schematic diagram showing an example of the schematic configuration of a continuum robot control system 10-1 according to the first embodiment of the present invention. The continuum robot control system 10-1, as shown in FIG. ing.

The continuum robot 100, as shown in FIG. Further, the continuum robot 100 is a tubular path penetrating the inside of the long part 110 and the bending part 120, and through a tool insertion opening provided near the junction between the long part 110 and the drive unit 150. A tool channel 101 is provided for inserting and removing various tools. Various tools to be inserted into and removed from the tool channel 101 include an imaging tool having an imaging unit 140 at its tip, and surgical instruments such as biopsy tools such as a biopsy brush tool and a biopsy needle tool.

In addition to having the tool channel 101 inside, the long portion 110 corresponds to a plurality of linear members driven by the drive unit 150 when bending the bending portion 120 with respect to the reference axis 102. A plurality of drive wires are inserted through.

The bending portion 120 is configured to be able to actively change its posture. Specifically, the bending portion 120 is moved relative to the reference axis 102 by driving a drive wire, which is a linear member connected to the bending portion 120 , by an actuator (driving portion) installed inside the drive unit 150 . curve. Here, in this embodiment, the reference axis 102 is assumed to be an axis parallel to the moving direction of the continuous body robot 100 on the linear stage 200 .

The coil 130 is installed at the tip of the bending portion 120 . Also, although not shown in FIG. 1, a magnetic field generator is installed near the bending section 120 . By reading changes in the magnetic field generated by a magnetic field generator (not shown) via the coil 130 , the control device 300 can detect the tip position and direction of the bending section 120 .

The imaging unit 140 is a component having a camera function, which is provided at the tip of an imaging tool inserted into the tool channel 101, for example. Here, for example, the tool channel 101 is provided with a guide member, and the imaging unit 140 of the imaging tool inserted into the tool channel 101 is inserted to a predetermined insertion depth and phase in the vicinity of the tip of the bending portion 120. placed in

The drive unit 150 includes an actuator (driving section) that drives a drive wire that is a linear member connected to the bending section 120 when bending the bending section 120 at a desired bending angle with respect to the reference axis 102 . configured as follows. In this embodiment, the driving unit 150 is fixed to the linear stage 200, and the continuum robot 100 moves in the longitudinal direction of the linear stage 200 by pushing and pulling the driving unit 150 back and forth by a user such as a doctor. Perform linear motion.

The drive unit 150 is fixed to the linear stage 200 as described above. The linear stage 200 corresponds to a moving device that moves the continuous robot 100 forward and backward with respect to a subject (subject).

The control device 300 controls the operation of the continuous robot 100 based on, for example, an operation input from the operation device 500, an input from the input device 400, an input from the coil 130, and an image output from the imaging unit 140. It is a device. Further, the control device 300 performs various types of control including display control of the image display device 600 and various types of processing.

The input device 400 is a device that inputs various information (including various data and various images) to the control device 300 .

The operating device 500 is a device operated by a user such as a doctor. The operating device 500 is provided with a lever 510 that is operated by a user such as a doctor so that the bending portion 120 assumes a desired posture. The control device 300 outputs a wire drive command to the actuator (driving section) of the drive unit 150 based on the operation amount of the lever 510 so that the bending section 120 assumes a desired posture.

In addition, the control device 300 is provided with an interface for receiving the image acquired by the imaging unit 140, and the image received by the control device 300 from the imaging unit 140 is output to the image display device 600 and is used by the camera. It is displayed as image 610 . In addition to the camera image 610 output from the imaging unit 140, the image display device 600 also displays, for example, a navigation image 620 created from a 3D model of the subject's lungs constructed before surgery. The navigation image 620 includes, for example, an image obtained by observing the lumen of a 3D model of the lung, which is the subject, from a first-person viewpoint, and a bird's-eye view of the 3D model of the lung, which is the subject, observed from the outside of the subject. A user, such as a doctor, can switch between these images as needed.

[1-2: Configuration and coordinate system of continuum robot]
FIG. 2 is a schematic diagram showing an example of a schematic configuration of the continuous body robot 100 according to the first embodiment of the present invention. In FIG. 2, the same reference numerals are assigned to the same components as those shown in FIG. 1, and detailed description thereof will be omitted. 2, the imaging unit 140 shown in FIG. 1 is not shown.

The elongated portion 110 is a member that passively bends against an external force.

The bending portion 120 includes a plurality of drive wires 121-123 which are a plurality of linear members, and a plurality of wire guides 124 which are members for guiding the plurality of drive wires 121-123. At this time, one end of the three drive wires 121 to 123 is fixedly connected to the wire guide 124D arranged at the tip 120a of the bending portion 120, and the other end is connected to the actuators 151a to 153a through the drive transmission mechanism. It is connected. Further, for example, the wire guide 124D arranged at the distal end 120a of the bending portion 120 is equipped with the coil 130 described above.

Inside the drive unit 150 shown in FIG. 1, actuators 151a to 153a and feed screws 151b to 153b shown in FIG. 2 are provided. Specifically, the drive wire 121 is connected to the actuator 151a via the feed screw 151b. Also, the drive wire 122 is connected to the actuator 152a via a feed screw 152b. Also, the drive wire 123 is connected to the actuator 153a via a feed screw 153b. The respective actuators 151a to 153a push and pull the respective drive wires 121 to 123 along the longitudinal direction of the continuous body robot 100 based on the control of the control device 300, thereby moving the bending portion 120 with respect to the reference axis 102. can be curved.

Here, the behavior of the bending portion 120 and the long portion 110 when driving the actuators 151a to 153a will be described below.

The rotary motions of the actuators 151a-153a are decelerated by the feed screws 151b-153b connected to their respective output shafts and converted into translational motion. The nuts of the feed screws 151b to 153b are provided with wire grips for fixing the drive wires 121 to 123. When the actuators 151a to 153a are driven, the drive wires 121 to 123 move in the longitudinal direction of the continuous robot 100. pushed and pulled along. At this time, since the drive wires 121 to 123 are fixedly connected to the wire guide 124D arranged at the tip 120a of the bending portion 120 in different phases, the drive amounts of the actuators 151a to 153a (each drive wire 121 to 123), it is possible to bend the bending portion 120 in a desired bending angle and direction. On the other hand, since the drive wires 121 to 123 are not fixed to the elongated portion 110, the orientation of the elongated portion 110 does not change even if the drive wires 121 to 123 are pushed or pulled.

FIG. 3 is a schematic diagram showing an example of the schematic configuration of the bending portion 120 shown in FIG. In FIG. 3, the same components as those shown in FIG. 2 are denoted by the same reference numerals, and detailed description thereof will be omitted.

All three drive wires 121 to 123 are connected to a wire guide 124D arranged at the tip of the bending portion 120 (hereinafter sometimes referred to as the "distal end"). On the other hand, the wire guides 124 other than the wire guide 124D are connected only to the drive wires 121, and the drive wires 122 and 123 are connected continuously along guide holes (not shown) provided in the wire guides 124. The body robot 100 can slide in the longitudinal direction.

Next, the coordinate system used in the control by the continuum robot control system 10-1 according to the present embodiment and variables representing the orientation of the bending section 120 are introduced to derive the kinematics of the continuum robot 100.

In the control by the continuum robot control system 10-1 according to the present embodiment, a working coordinate system based on a subject such as a patient, a robot coordinate system based on the drive unit 150, and the tip of the bending portion 120 are Use the reference camera coordinate system. In the working coordinate system, a predetermined position in the trachea of the subject is the origin _OW , the direction from the larynx to the lungs of the subject is the Z axis _ZW , and the direction from the abdomen to the back is the Y axis _YW , _YW and Z Take the X-axis _XW so that it is a right-handed coordinate system with respect to _W.

FIG. 4 is a schematic diagram showing a robot coordinate system and a camera coordinate system used for control by the continuum robot control system 10-1 according to the first embodiment of the present invention. In FIG. 4, the same components as those shown in FIGS. 1 to 3 are denoted by the same reference numerals, and detailed description thereof will be omitted. Further, in the following description, the drive wire 121 shown in FIGS. 2 and 3 is referred to as "1a wire", the drive wire 122 illustrated in FIGS. 123 is described as "1c wire".

In the robot coordinate system, as shown in FIG. 4, the center of the base near the joint between the long part 110 of the continuous body robot 100 and the drive unit 150 is the origin _OB . In the robot coordinate system, as shown in FIG. 4, the longitudinal direction of the elongated portion 110 is the Z-axis _ZB , and the direction of the 1a wire is set with respect to the X-axes _XB , _XB , and _ZB with the origin _OB as a reference. Take the Y-axis _YB so that it is a right-handed coordinate system. At this time, the Z-axis _ZB is equivalent to the reference axis 102, as shown in FIG.

Further, the guide member provided in the tool channel 101 described above determines the position and posture of the imaging section 140 (camera) with respect to the tip (distal end) of the bending section 120 . Therefore, in this embodiment, the camera coordinate system is defined with the distal end of the continuum robot 100 as a reference. The guide member described above regulates the amount of insertion of the imaging section 140 so that the center of the light receiving section of the imaging section 140 coincides with the center of the wire guide 124D arranged at the distal end of the bending section 120. , the center of the wire guide 124D is the origin _OI of the camera coordinate system. In addition, the guide member described above defines the phase of the imaging unit 140 so that the direction from the origin _OI shown in FIG. 4 to the 1a wire coincides with the X axis of the camera image. Let the axis _XI . In the camera coordinate system, as shown in FIG. 4, the direction of the line of sight of the imaging unit 140 is _ZI , and the Y-axis _YI is taken so that it is a right-handed coordinate system with respect to XI, _XI, and _ZI .

In the following description, when a vector is used, the top left subscript is used to indicate in which coordinate system the vector is defined. Specifically, the upper left subscript W represents a work coordinate system, the upper left subscript B represents a robot coordinate system, and the upper left subscript I represents a vector when observed from a camera coordinate system. For example, the tip position vectors of the bending section 120 represented by the robot coordinate system and the work coordinate system are respectively ^B p ₁ and ^W p ₁ .

Also, as variables representing the attitude of the bending portion 120, the bending angle θ ₁ in FIG. 3 representing the magnitude of bending and the turning angle ζ ₁ in FIG. 3 representing the bending direction are defined. Specifically, as shown in FIG. 3, the unit vector n ₁ in the longitudinal direction at the distal end of the bending section 120 and the Z-axis Z _B of the robot coordinate system (“reference axis 102” as shown in FIG. 4) ) is defined as the bending angle θ ₁ of the bending portion 120 . Further, as shown in FIG. 3, the vector obtained by projecting the unit vector n ₁ onto the X _B -Y _B plane is defined as W _B , and the angle between W _B and X _B is defined as the turning angle ζ ₁ of the bending portion 120 .

At _this time _, kinematics _{( hereinafter referred} to as “actuator motion ) are represented by the following formulas (1) to (3), respectively.

Also, the kinematics representing the relationship between the position p ₁ and the direction n ₁ of the tip of the bending portion 120 in the robot coordinate system and the bending angle θ ₁ and turning angle ζ ₁ of the bending portion 120 (hereinafter referred to as “robot kinematics”) described) are represented by the following equations (4) and (5), respectively.

In equations (1) to (5), R _g represents the pitch circle diameter of the wire passing through the wire guide 124 and l _1d represents the length of the central axis of the bending portion 120 . Also, ξ ₁ represents the phase of the guide hole of the wire guide 124 with respect to the _ZB axis of the robot coordinate system, and ξ ₁ =0 at the curved portion 120 .

[1-3: Configuration of control device]
FIG. 5 is a schematic diagram showing an example of the schematic configuration of the control device 300 according to the first embodiment of the present invention.

A control device 300 shown in FIG.

In FIG. 5 , structural information 301 is obtained by, for example, a user such as a doctor inputting structural information of a subject such as a patient (for example, structural information of a lung lumen) from the input device 400 before surgery. Information. A bending portion tip position 302 is position information of the tip 120 a of the bending portion 120 measured by the coil 130 . Further, the bending portion operation input 303 is, for example, input information of an operation amount when a user such as a doctor operates the lever 510 of the operation device 500 .

The angle limit value estimating unit 311 calculates the input 3D model of the subject including the structural information 301 of the subject, the position _p1 and the direction of the distal end of the bending portion 120 included in the input bending portion tip position 302. n ₁ , and the current target bending angle θ _{1_ref} and the target turning angle ζ _{1_ref} output from the angle limiter 313, a certain turning angle (certain bending direction) ζ ₁ is determined by iterative calculation in FIG. The bending angle limit value θ _{1 — lim} (ζ ₁ ) of the bending portion 120 with respect to is calculated and estimated.

The angle command _generation unit ₃₁₂ generates a bending angle command value θ _{1_cmd} and the turning angle command value ζ _{1_cmd} are generated by calculation.

The angle limiter 313 adjusts the bending angle limit value θ _{1 — lim} (ζ ₁ ) of the bending portion 120 output from the angle limit value estimator 311 (for example, less than or equal to the bending angle limit value θ _{1 — lim} (ζ ₁ )). , the target bending angle _{θ1_ref} is set to limit the driving of the actuators 151a to 153a, which are the driving units. Specifically, the angle limiter 313 first obtains a bending angle limit value θ _{1 — lim} (ζ 1 — _cmd ) corresponding to the bending angle command value θ _{1 — cmd} output from the angle command generator 312 . Next, if the bending angle command value _{θ1_cmd} is equal to or less than the bending angle limit value _{θ1_lim} (ζ _{1_cmd} ), the angle limiting unit 313 controls the bending angle command value _{θ1_cmd} and the turning angle command value output from the angle command generating unit 312. _{.zeta.1_cmd} are output as the target bending angle _{.theta.1_ref} and the target turning angle _{.zeta.1_ref} , respectively. On the other hand, if the bending angle command value _{θ1_cmd} is greater than the bending angle limit value _{θ1_lim} ( _{ζ1_cmd} ), the angle limiting unit 313 outputs the current target bending angle _{θ1_ref} without updating it.

The kinematics calculation unit 314 uses the actuator kinematics shown in formulas (1) to (3) to calculate the wire 1a, the wire 1b from the target bending angle θ _{1_ref} and the target turning angle ζ _{1_ref} output from the angle limiter 313. The drive amounts l _1a , l _1b and l _1c of the wire and the 1c wire are calculated.

The wire control unit 315 controls the actuator 151a so that the actual drive amounts of the 1a wire, 1b wire and 1c wire match the drive amounts l _1a , l _1b and l _1c calculated by the kinematics calculation unit 314, respectively. A wire drive command 304 is output to 153a.

FIG. 6 is a flow chart showing an example of iterative calculation processing procedure when obtaining the bending angle limit value θ _{1 — lim} (ζ ₁ ) in the angle limit value estimating unit 311 of FIG. 5 .

First, in step S101 of FIG. 6, the angle limit value estimating unit 311 calculates a predetermined direction Δζ 1_in and a predetermined magnitude Δθ _{1_in} when the lever 510 is moved in a predetermined direction Δζ _{1_in} by a predetermined magnitude Δθ _{1_in} . Initialize (set to 0) Δθ _{1_in} .

Subsequently, in step S102, the angle limit value estimation unit 311 outputs the bending angle θ _{1_itr} and the turning angle ζ _{1_itr} when it is assumed that the lever 510 is moved in a predetermined direction Δζ _{1_in} by a predetermined amount Δθ _{1_in} . It is calculated by a method similar to that of the generation unit 312 .

Subsequently, in step S103, the angle limit value estimator 311 calculates the position of the tip (distal end) of the bending portion 120 after the lever 510 is operated, using a calculation method based on the configuration of the block diagram of FIG. 7, which will be described later. Calculate ^W p̂ ₁ ' and direction ^W n̂ ₁ '.

Subsequently, in step S104, the angle limit value estimating unit 311 uses the structural information 301 to observe the direction represented by ^Wn̂1 _′ with the position ^Wp̂1 _′ as the base point, and when the imaging unit 140 An image of the inside of the subject (for example, the lungs) to be output is estimated. Next, the angle limit value estimation unit 311 determines whether or not the estimated image includes a part of the path leading to the deep part of the lumen of the subject (for example, the lungs). Specifically, first, the angle limit value estimating unit 311 divides the estimated image into black for the path toward the deep part of the lumen of the subject (for example, lung) and white for the other areas. binarization processing based on Then, in step S104, the angle limit value estimation unit 311 detects a black area (hereinafter referred to as a "characteristic area") from the binarized image.

Subsequently, in step S105, the angle limit value estimation unit 311 determines whether or not the feature area detected in step S104 is included with a predetermined area or more. That is, in step S105, the angle limit value estimating unit 311 determines that the visual field of the imaging unit 140 (the image obtained by the imaging unit 140) includes a characteristic region related to the path of the lumen of the subject (for example, the lungs) having a predetermined area. Determine whether or not it is included.

Then, as a result of the determination in step S105, if the characteristic region detected in step S104 is included with a predetermined area or more (S105/Yes), the route to the deep part of the lumen of the subject (for example, lung) enters the field of view of the imaging unit 140, and the process proceeds to step S106.

In step S106, the angle limit value estimator 311 updates the bending angle limit value ? _{1_lim} (? _{1_itr} ) of the bending portion 120 to the bending angle ? _{1_itr} .

Subsequently, in step S107, the angle limit value estimator 311 increases the predetermined magnitude _{Δθ1_in} . After that, the process returns to step S102. By repeating the processing from step S102 to step S107 until the characteristic region is no longer included in the binarized image with a predetermined area or _more , θ _{1 — lim} (ζ _{1 — itr} ), which is the limit (for example, the upper limit) of the curvature angle at which the characteristic region is included in , can be obtained.

Also, as a result of the determination in step S105, if the feature area detected in step S104 does not have a predetermined area or more (S105/No), the process proceeds to step S108.

After proceeding to step S108, the angle limit value estimator 311 determines whether or not the predetermined direction Δζ _{1_in} is less than 360 degrees.

As a result of the determination in step S108, if the predetermined direction Δζ _{1_in} is less than 360 degrees (S108/Yes), the process proceeds to step S109.

After proceeding to step S109, the angle limit value estimator 311 increases the predetermined direction Δζ _{1_in} . After that, the process returns to step S102.

If the predetermined direction Δζ _{1_in} is not less than 360 deg as a result of determination in step S108 (S108/No), the processing of the flowchart of FIG. 6 ends.

By repeating the processing of steps S102 to S109 in FIG. 6, the operation direction Δζ _{1_in} of the lever 510 is gradually increased from 0 deg to 360 deg, and each time, the limit (for example, upper limit) of the bending angle θ _{1_lim} ( By calculating ζ _{1 — itr} ), it is possible to obtain the bending angle limit value θ _{1 — lim} (ζ ₁ ) of the bending portion 120 corresponding to all the operation directions.

FIG. 7 is a schematic diagram showing an example of the functional configuration of the angle limit value estimating section 311 that performs the process of step S103 in FIG. 7, in step S103 of FIG. 6, the angle limit value estimator 311 determines the position ^W _p̂1 ′ of the tip (distal end) of the bending section 120 when a predetermined lever operation is assumed, and A method for calculating the estimated value of the direction ^W n̂ ₁ ′ will now be described. Moreover, in FIG. 7, the same reference numerals are assigned to the same components as those shown in FIG. 5, and detailed description thereof will be omitted.

The angle limit value estimation unit 311 that performs the process of step S103 in FIG. 6 has a functional configuration of a change amount calculation unit 3111 and a coordinate conversion unit 3112, as shown in FIG.

In FIG. 7, the operation angle 701 is the bending angle _{θ1_itr} and the turning angle _{ζ1_itr} calculated in step S102 of FIG. A bending portion angle 702 is the target bending angle θ _{1_ref} and the target turning angle ζ _{1_ref} output from the angle limiting portion 313 in FIG.

The change amount calculation unit 3111 in _{FIG .} , the position ^B p _{1_ref} and the direction ^B n _{1_ref} . Similarly, the change amount calculation unit 3111 calculates the post-movement position ^B p _{1_itr} and the direction ^B n _{1_itr} of the distal end from the bending angle θ _{1_itr} and the turning angle ζ _{1_itr} , which are the operation angle 701 . Then, the change amount calculation unit 3111 subtracts the position ^B p _{1_ref} and the direction ^B n _{1_ref} before the movement from the calculated position ^B p _{1_itr} and the direction ^B n _{1_itr} after the movement to obtain the change amounts ^B Δ^p ₁ and Calculate ^B Δ̂n ₁ .

A coordinate transformation unit 3112 in FIG. 7 converts the amount of change ^B Δ̂p ₁ and ^B Δ̂n ₁ calculated by the amount of change calculation unit 3111 into the amount of change ^W Δ̂p ₁ and ^W Δ̂ into the working coordinate system. Calculate _n1 .

Then, the angle limit value estimation unit 311 calculates the change amounts ^W Δ̂p ₁ and ^W Δ̂n ₁ calculated by the coordinate conversion unit 3112 and the bending portion 120 measured by the coil 130 at the bending portion tip position 302. The position ^W p ₁ and the direction ^W n ₁ of the tip (distal end) are respectively added to calculate the position ^W p̂ ₁ ' and the direction ^W n̂ ₁ '. In FIG. 7 , the position ^W p̂ ₁ ′ and direction ^W n̂ ₁ ′ calculated here are output as the estimated tip position 703 .

[1-4: Lung biopsy processing procedure]
A processing procedure of a method for limiting the bending angle of the bending portion 120 when lung biopsy is performed on a subject using the continuum robot control system 10-1 described above will be described. Before surgery, the user creates a 3D model of the lungs of a subject (subject) from medical images such as MRI images and CT images. After that, the user determines the target position for sampling the tissue and the target path through which the tip 120a of the bending portion 120 of the continuous robot 100 passes until reaching the target position while referring to the created 3D model. Then, the user stores the determined target position and target route information together with the 3D model in the storage unit (not shown) of the control device 300 .

When surgery begins, a user such as a doctor first inserts an imaging tool having an imaging unit 140 at its tip into the tool channel 101 of the continuous robot 100, and moves the imaging unit 140 of the imaging tool up to the tip 120a of the bending portion 120. insert. Next, the user inserts the continuum robot 100 into which the imaging tool is inserted through the subject's mouth or nose. Then, the user operates the operation device 500 (lever 510, etc.) while referring to the camera image 610 and the navigation image 620 displayed on the image display device 600, and continuously controls the posture of the tip 120a of the bending portion 120. The linear stage 200 on which the driving unit 150 of the body robot 100 is mounted is advanced.

FIGS. 8A, 8B, and 8C show the first embodiment of the present invention, and are diagrams showing an example of the posture of the continuous robot 100 inside the subject. 8A, 8B, and 8C, the same components as those shown in FIGS. 1 to 4 are denoted by the same reference numerals, and detailed description thereof will be omitted. 9A, 9B, and 9C show the first embodiment of the present invention, and camera images output by the imaging unit 140 when the continuous robot 100 takes the postures of FIGS. 8A, 8B, and 8C. It is a figure which shows an example. 8A, 8B, 8C and 9A, 9B, 9C will be described below.

First, as shown in FIG. 8A, the tip of the bending section 120 having the coil 130 and the imaging section 140 at the tip reaches the vicinity of the bifurcation in the lung lumen of the subject. At this time, in the field of view (camera image) of the imaging unit 140, as shown in FIG. 9A, both paths, path L (910) in FIG. 8A on the left side of the screen and path R (920) in FIG. 8A on the right side of the screen, are shown. come in. In addition, FIG. 9A shows, for example, a lumen wall (lumen inner wall) 900, and a lumen route 911 toward the depth of the route L (910) corresponding to the characteristic region described above and a route R (920) toward the depth. Lumen path 921 is shown.

Subsequently, as shown in FIG. 8B, when bending section 120 having coil 130 and imaging section 140 at its tip is bent to the left (predetermined direction), path L and path R are aligned with respect to the screen of imaging section 140. to the right. At this time, in the field of view (camera image) of the imaging unit 140, as shown in FIG. 9B, the route R (920) is out of the screen, but the route L ( 910) stays in the screen. Therefore, in the present embodiment, the angle limiter 313 does not limit the bending angle of the bending portion 120 .

Subsequently, as shown in FIG. 8C, the bending section 120 having the coil 130 and the imaging section 140 at its tip is further bent to the left to increase the bending angle. As a result, in the field of view (camera image) of the imaging unit 140, as shown in FIG. 9C, part of the path L (910) is out of the screen, and the area of the lumen path 911 corresponding to the characteristic region is reduced. Resulting in. In the present embodiment, when the area of the lumen path 911 corresponding to the characteristic region becomes less than a predetermined area, which is a certain threshold value, the bending portion operation input 303 for further bending the bending portion 120 to the left is input. Even if given by the user, the control device 300 (angle limiter 313) controls the bending section 120 not to bend further to the left (predetermined direction). However, since the angle limiting unit 313 holds a different bending angle limit value θ _{1 — lim} (ζ) for each turning angle ζ, the vertical direction or rightward direction (other than the predetermined direction) of the screen where the area of the feature region increases direction), the bending angle of the bending portion 120 is not limited.

In this way, by performing control by the control device 300 of the present embodiment, a characteristic region related to the path of the lumen of the subject is always displayed on the camera image 610, so that the user can change the operation direction of the bending section 120. can be easily grasped. This reduces the risk of erroneously operating the bending section 120 in the direction of strong contact with the lumen of the subject and damaging the continuum robot 100 .

In the present embodiment, the area of the characteristic region is calculated based on the difference in brightness between the luminal wall of the lung, which is the subject, and the path leading to the deep part of the luminal region of the lung. The calculation method of the feature regions in 300 is not limited. In the present invention, information other than the lumen may be used as long as it can be distinguished from the background. For example, a characteristic region may be defined using information on a difference in brightness caused by irregularities such as a tumor or folds present on the luminal wall of the subject, or edge information generated by branching or curving of the luminal wall of the subject. .

In addition, in the present embodiment, the area of the characteristic region is calculated using the camera image estimated by the angle limit value estimation unit 311. good too. As a result, for example, it is possible to use the lumen and unevenness behind the lumen wall on the front surface as the characteristic region. operability of the bending portion 120 can be improved.

10A, 10B, and 10C are diagrams showing an example of a form in which the bending angle limit value of the bending portion 120 of the continuous body robot 100 according to the first embodiment of the present invention can be increased. In FIGS. 10A, 10B, and 10C, configurations similar to those shown in FIGS. 8A, 8B, 8C, and 9A, 9B, and 9C are denoted by the same reference numerals, and the detailed description thereof is as follows. omitted.

FIG. 10A is a diagram showing an example of the posture of the continuous robot 100 inside the subject. Inside the subject shown in FIG. 10A , the path L continues behind the lumen wall A as viewed from the continuum robot 100 . At this time, as shown in FIG. 10B, only the lumen wall A is included in the field of view (camera image) of the imaging unit 140, and the characteristic region described above does not exist. Therefore, when only the camera image is used, the bending section 120 cannot be operated in the posture shown in FIG. 10A. However, as shown in FIG. 10C, an image including the path L can be generated if the lumen wall A is transmitted. If this transmitted image is used as navigation image 620, or route L (910) extracted from the transmitted image by image processing is superimposed on camera image 610, the user can navigate bending portion 120 while referring to information on route L. Since the operation direction can be determined, the path L can be used as the feature area (911). Thereby, the bending angle limit value of the bending portion 120 can be increased so as to take the posture shown in FIG. 10A.

Furthermore, the above-described characteristic regions may be set based on the preoperatively planned target route to the affected area (region of interest) inside the subject. For example, the target path information is superimposed on the 3D model of the tissue to estimate the camera image 610 including the target path. Then, the curving angle limit value of the curving portion 120 may be calculated so that the estimated camera image 610 always includes part of the target route.

The controller 300 of the continuum robot control system 10-1 according to the first embodiment performs the following processing.

First, in the angle limit value estimating unit 311 (angle estimating means), the control device 300 detects the bending portion detected after the bending portion 120 is inserted into the lumen of the subject (for example, the lungs of the subject). Based on the tip position 302 and the structural information 301 of the lumen, when the bending section 120 is bent in a predetermined direction, the field of view of the imaging section 140 includes a characteristic region related to the path of the lumen with a predetermined area or more. The bending angle limit value θ _{1 — lim} (ζ ₁ ) of the bending portion 120 at the time of bending is estimated. Then, when the bending portion 120 is bent in the predetermined direction by the angle limiting portion 313 (angle limiting means), the control device 300 causes the bending portion 120 to be bent within the range of the bending angle limit value θ _{1 — lim} (ζ ₁ ). The driving of the actuators 151a to 153a, which are driving portions, is limited so as to bend.

With such a configuration, the bending angle of the bending section 120 can be controlled so that the characteristic region related to the luminal path of the subject is always within the field of view of the imaging section 140. Moreover, even for a subject whose shape changes during surgery, it is possible to reduce the risk of operating the continuous body robot 100 in a direction that strongly contacts the lumen of the subject.

The first embodiment also includes a method of processing performed by the continuum robot control system 10-1 (continuum robot control method).

(Second embodiment)
Next, a second embodiment of the invention will be described. In the description of the second embodiment described below, the description of matters common to the first embodiment is omitted, and the matters different from the first embodiment are described.

As described in the first embodiment, since the continuum robot 100 is fixed to the linear stage 200 , not only the bending motion of the bending section 120 but also the forward and backward movement of the linear stage 200 can cause the camera image 610 to move. The area of the feature region of varies. Therefore, the control device 300 of the present embodiment also limits the amount of movement of the linear stage 200 so that the area of the above-described characteristic region is equal to or greater than a predetermined area.

[2-1: Configuration of continuum robot control system]
FIG. 11 is a schematic diagram showing an example of a schematic configuration of a continuum robot control system 10-2 according to the second embodiment of the present invention. In FIG. 11, the same components as those shown in FIG. 1 are denoted by the same reference numerals, and detailed description thereof will be omitted.

The continuum robot control system 10-2 includes a continuum robot 100, a linear stage 200, an electric stage 220, a control device 300, an input device 400, an operation device 500, and an image display device 600, as shown in FIG. is configured as

In the second embodiment, the linear stage 200 is driven by an electric stage 220 including electric actuators. The linear stage 200 and the electric stage 220 correspond to a moving device that moves the continuous body robot 100 forward and backward with respect to the subject. Further, the operating device 500 in the second embodiment is provided with a forward/backward button 520 (a forward button and a reverse button) for outputting a forward/backward movement command for the motorized stage 220 . In this embodiment, when the user presses these forward/reverse buttons 520, the control device 300 outputs a drive command to the electric actuator of the electric stage 220 according to the type of button that was pushed. The rotary motion of the electric actuator is converted into translational motion by the feed screw, and the driving unit 150 moves forward and backward together with the table of the electric stage 220 (forward and backward movement). An encoder (not shown) is connected to the electric actuator of the electric stage 220, and the control device 300 calculates the amount of movement of the table (stage) based on the output of this encoder.

[2-2: Configuration of control device]
FIG. 12 is a schematic diagram showing an example of the schematic configuration of the control device 300 according to the second embodiment of the present invention. In FIG. 12, the same components as those shown in FIG. 5 are denoted by the same reference numerals, and detailed description thereof will be omitted.

The control device 300 shown in FIG. 12 has a movement limit value estimation section 321, a movement command calculation section 322, a movement amount limitation section 323, and a stage control section 324 in addition to the components 311 to 315 shown in FIG. configured as follows. Components 321 to 324 shown in FIG. 12 are components related to the control system of the electric stage 220 .

In FIG. 12, structural information 301, bending portion tip position 302, and bending portion operation input 303 are the same as in FIG. In FIG. 12, the stage operation input 305 is, for example, input information about the type of button and the amount of operation when the forward/reverse button 520 of the operating device 500 is operated by a user such as a doctor.

The movement limit value estimator 321 uses iterative calculation in the same manner as the angle limit value estimator 311 described in the first embodiment, and calculates the position of the bending portion 120 included in the input structural information 301 and the bending portion tip position 302. Based on the position _p1 and the direction _n1 of the distal end, a movement limit value _{zb_lim} in the amount of movement of the stage is calculated and estimated. Specifically, the movement limit value estimation unit 321 first estimates the position and direction of the imaging unit 140 when the stage is moved by a predetermined amount. to estimate Then, the movement limit value estimating unit 321 determines whether or not the characteristic region in the estimated image is included with a predetermined area or more.

Then, the movement limit value estimation unit 321 repeats the above-described processing while increasing the movement amount of the stage, and outputs the maximum stage movement amount at which the characteristic region is included in the estimated image as the movement limit value _{zb_lim} . .

A movement command calculation unit 322 calculates a stage position command value zb _cmd based on the stage operation input 305 .

Movement amount limiter 323 outputs position command value zb _cmd as target position zb _ref if position command value zb _cmd calculated by movement command calculator 322 is equal to or less than movement limit value zb _lim . Further, if the position command value zb _cmd calculated by the movement command calculation unit 322 is greater than the movement limit value zb _lim , the movement amount limiter 323 outputs the movement limit value zb _lim as the target position zb _ref .

The stage control unit 324 outputs the stage drive command 306 so that the stage position measured by the encoder connected to the electric actuator of the electric stage 220 matches the target position zb _ref .

[2-3: Lung biopsy processing procedure]
Using the continuum robot control system 10-2 described above, the processing procedure of the control method of the motorized stage 220 during lung biopsy of the subject will be described.

13A, 13B, and 13C show the second embodiment of the present invention, and are diagrams showing an example of the posture of the continuous robot 100 inside the subject. In FIGS. 13A, 13B, and 13C, configurations similar to those shown in FIGS. 1 to 4, 8A, 8B, 8C, and 11 are given the same reference numerals, and detailed description thereof is omitted. 14A, 14B, and 14C show a second embodiment of the present invention, in which camera images output by the imaging unit 140 when the continuous robot 100 assumes the postures of FIGS. 13A, 13B, and 13C. It is a figure which shows an example. In FIGS. 14A, 14B, and 14C, the same reference numerals are assigned to the same configurations as those shown in FIGS. 9A, 9B, and 9C, and detailed description thereof will be omitted. 13A, 13B, 13C, 14A, 14B, and 14C, a method of controlling the motorized stage 220 during lung biopsy of the subject will be described below.

First, as shown in FIG. 13A, the tip of the bending section 120 having the coil 130 and the imaging section 140 at the tip reaches the vicinity of the bifurcation in the lung lumen of the subject. At this time, in the field of view (camera image) of the imaging unit 140, as shown in FIG. 14A, both paths, path L (910) in FIG. 13A on the left side of the screen and path R (920) in FIG. 13A on the right side of the screen. come in.

Subsequently, when the stage is advanced, as shown in FIG. 13B, the tip of the bending section 120 having the coil 130 and the imaging section 140 at the tip approaches the branch. At this time, in the field of view (camera image) of the imaging unit 140, the path L (910) moves to the left and the path R (920) moves to the right, as shown in FIG. 14B.

Subsequently, when the stage is advanced further, as shown in FIG. 13C, the distal end of the bending section 120 having the coil 130 and the imaging section 140 at the distal end becomes closer to the branch. At this time, in the field of view (camera image) of the imaging unit 140, as shown in FIG. Lumen paths 911 and 921 are less than the predetermined area. Therefore, in this case, the movement amount limiter 323 performs control to limit the forward movement of the stage.

However, as shown in FIG. 12, the movement amount limiter 323 of the stage and the angle limiter 313 of the bending angle of the bending portion 120 are independent of each other. It is possible to perform bending movements. For example, when the camera image shown in FIG. 14C is obtained, if the bending section 120 is bent to the left, the path L (910) moves to the vicinity of the center of the camera image, and if the bending section 120 is bent to the right, Since path R (920) moves near the center of the camera image, not limiting the bending angle of bending section 120 is also applicable. Then, when the feature area becomes equal to or larger than a predetermined area by such a bending operation, the restriction on the amount of movement of the stage is lifted, so that the stage can be moved forward again.

The control device 300 of the continuous body robot control system 10-2 according to the second embodiment performs the following processing in addition to the processing of the control device 300 according to the first embodiment.

First, the movement limit value estimating unit 321 (movement estimating means) of the control device 300 detects the bending portion detected after the bending portion 120 is inserted into the lumen of the subject (for example, the lungs of the subject). Based on the tip position 302 and the structural information 301 of the lumen, a movement limit value _{zb_lim} in the amount of movement by the linear stage 200 and the motorized stage 220, which are moving devices, is estimated. Then, the control device 300 controls the movement amount of the linear stage 200 and the electric stage 220, which are moving devices, to be within the range of the movement limit value zb _lim in the movement amount limiting unit 323 (movement amount limiting means). I have to.

According to such a configuration, by controlling the position of the stage, the continuous body robot 100 is largely moved with respect to the subject, and the characteristic region is prevented from deviating from the field of view (camera image 610) of the imaging unit 140. be able to.

In this embodiment, the electric actuator of the electric stage 220 is used to limit the amount of movement of the stage, but the present invention can also be applied to other embodiments. For example, as in the first embodiment, a stage that can be manually moved forward by the user, an encoder that measures the amount of movement of the stage, and an electromagnetic brake that regulates the movement of the stage in the forward and backward directions. can also be taken. When this form is adopted, the stage is moved by the user's operation, and when the movement amount zb measured by the encoder becomes equal to or greater than the target position zb _{lim, the movement amount is made smaller than the target position zb lim by} applying an electromagnetic brake. It becomes possible to

(Third embodiment)
Next, a third embodiment of the invention will be described. In addition, in the description of the third embodiment described below, the description of matters common to the first and second embodiments described above is omitted, and the matters different from those of the first and second embodiments described above are omitted. Give an explanation.

As described above in the first embodiment, the elongated portion 110 of the continuum robot 100 can bend passively when in contact with the lumen of the subject, but traverses a highly curved path. Occasionally, they come into strong contact with the lumen of the subject. On the other hand, if the posture of each bending portion 120 is actively controlled so as to conform to the shape of the lumen of the subject using the continuous body robot 100 having a plurality of bending portions 120, the lumen of the subject and the It is possible to reduce the risk of deterioration of operability due to contact with the continuum robot 100 and damage to the continuum robot 100 . Therefore, in the third embodiment, the continuous body robot 100 having a plurality of bending parts 120 is applied, and even when operating the bending parts 120 other than the tip (distal end), the above-described feature in the camera image 610 The bending angle of the bending portion 120 is limited so that the region is included.

[3-1: Configuration of continuum robot control system]
FIG. 15 is a schematic diagram showing an example of a schematic configuration of a continuum robot control system 10-3 according to the third embodiment of the present invention. In FIG. 15, the same reference numerals are assigned to the same components as those shown in FIGS. 1 and 11, and detailed description thereof will be omitted.

A continuum robot control system 10-3 according to the third embodiment differs from the first and second embodiments described above in that the continuum robot 100 includes a plurality of bending sections 120-1 to 120-3. . A user such as a doctor uses a lever 510 installed on the operating device 500 to move one of the bending portions 120-1 to 120-3, as in the continuum robot control system 10-1 according to the first embodiment. It is possible to change the bending angle and posture of one bending portion 120 of . Further, in the continuum robot control system 10-3 according to the third embodiment, the operation device 500 is provided with the slide switch 530, and the user can operate by changing the position of the slider of the slide switch 530. The curved portion 120 can be selected to

[3-2: Configuration of continuum robot]
FIG. 16 is a schematic diagram showing an example of a plurality of bending sections 120 provided in the continuous body robot 100 according to the third embodiment of the present invention. In FIG. 16, the same components as those shown in FIGS. 2 to 4 and 15 are denoted by the same reference numerals, and detailed description thereof will be omitted.

In this embodiment, the number of bending portions 120 is N. In FIG. 16, a certain bending portion 120 out of the N bending portions 120 is illustrated as the n-th (n=1, 2, . . . , N) bending portion 120-n. In the n-th curved portion 120-n, one ends of the drive wires 121-n, 122-n and 123-n are connected to the wire guide 124-nD located at the distal end of the plurality of wire guides 124-n. Fixedly connected. In the following description, the drive wires 121-n shown in FIG. 16 are referred to as "na wires", the drive wires 122-n illustrated in FIG. 16 are referred to as "nb wires", and the drive wires 123-n illustrated in FIG. ”. In addition, only the na wire is fixed to the wire guides 124-n other than the wire guide 124-nD at the distal end of the n-th bending portion 120-n. It can be slid in the longitudinal direction by a guide hole (not shown) provided in n.

In FIG. 16, the (n−1)th bending portion 120-(n−1), the nth bending portion 120-n, and the (n+1)th bending portion 120- are shown in order from the tip of the continuous body robot 100. (n+1) three bends 120 are shown. In this case, the (n−1)th curved portion 120-(n−1) shown in FIG. 16 corresponds to the first curved portion 120-1 shown in FIG. Similarly, the nth curved portion 120-n shown in FIG. 16 corresponds to the second curved portion 120-2 shown in FIG. 15, and the (n+1)th curved portion 120-(n+1 ) corresponds to the third curved portion 120-3 shown in FIG.

Further, in FIG. 16, the wire guides of the (n+1)-th bending portion 120-(n+1) located closer to the base than the n-th bending portion 120-n include na wire, nb wire and nc wire. are not fixed, and each wire slides through the guide hole of the wire guide. Then, each wire passing through the (n+1)-th bending portion 120-(n+1) corresponding to the N-th bending portion located closest to the base portion is guided by the long portion 110, It is connected to an actuator, which is the driving part shown in the figure. When these actuators are driven, the na wire, nb wire, and nc wire are pushed and pulled, respectively, so that the bending angle θ _n and turning angle ζ _n of the n-th bending portion 120-n change. At this time, the actuator kinematics representing the relationship between the bending angle θ _n and turning angle ζ _n of the n-th bending portion 120-n and the drive amounts l _na , l _nb , and l _nc of the na wire, nb wire, and nc wire is represented by the following formulas (6) to (8).

As described above, since the na wire, nb wire, and nc wire are connected only to the wire guide of the n-th bending portion 120-n, the drive amounts l _na , l _nb , and l _nc are changed. However, the bending angles and turning angles of the bending portions 120 other than the n-th bending portion 120-n do not change. Thus, the continuum robot 100 of this embodiment can independently control the orientation of each bending section 120 .

Also, the robot kinematics representing the angle and position ^B p ₁ of the tip of the first flexure 120-1 can be determined using the kinematics of each flexure 120. FIG. First, the control device 300 uses a formula similar to the formula (4) to find a vector from the wire guide closest to the base to the distal end of each bending section 120 . Next, the control device 300 transforms these vectors into a coordinate system having the base of each bending section 120 as the origin and the coordinate axes X _B , Y _B and Z _B of the robot coordinate system as the coordinate axes. Controller 300 then adds these vectors to obtain position ^B p ₁ . Note that the direction n ₁ of the tip of the first bending portion 120-1 depends only on the bending angle θ ₁ and the turning angle ζ ₁ of the first bending portion 120-1. Also, _n1 can be obtained using the equation (5).

[3-3: Configuration of control device]
FIG. 17 is a schematic diagram showing an example of the schematic configuration of the control device 300 according to the third embodiment of the present invention. In FIG. 17, the same reference numerals are assigned to the same components as those shown in FIGS. 5 and 12, and detailed description thereof will be omitted.

Similar to the control device 300 shown in FIG. 5, the control device 300 shown in FIG. is configured with

In FIG. 17, structural information 301, bending portion tip position 302, and bending portion operation input 303 are the same as in FIG. In FIG. 17 , the bending section selection signal 307 is a selection signal for one bending section 120 selected by a user such as a doctor by operating the slide switch 530 of the operating device 500 .

In the third embodiment, the angle limit value estimator 311 calculates the position p 1 and direction _{n 1} of the distal end of the first bending portion 120-1 included in the input structural information 301 and bending portion tip position 302. , the number n of the bending section 120 to be operated indicated by the bending section selection signal 307, and the target bending angle θ _{n_ref} and the target turning angle ζ _{n_ref} of the n-th bending section 120-n output from the angle limiting section 313. Based on this, an image output by the imaging unit 140 when the n-th bending unit 120-n is driven is estimated. Then, the angle limit value estimating unit 311 calculates the maximum bending angle at which the characteristic region in the estimated image is included in a predetermined area or more by the iterative calculation described in the first embodiment. Output as the bending angle limit value θ _{n_lim} (ζ _n ) of n.

In the third embodiment, the angle command generation unit 312 generates the horizontal tilt amount _rx and the vertical tilt amount _ry of the lever 510 included in the input bending portion operation input 303, and the bending portion selection signal 307. A bending angle command value θ _{n_cmd} and a turning angle command value ζ _{n_cmd} for the n-th bending portion 120-n are generated by calculation based on the number n of the bending portion 120 to be operated indicated by .

In the third embodiment, the angle limiter 313 is within the range of the bending angle limit value θ _{n_lim} (ζ _n ) of the n-th bending portion 120-n output from the angle limit value estimating unit 311 (for example, the bending angle limit The target bending angle θ _{n_ref} is set so as to limit the driving of the actuator, which is the driving unit, so that the value θ 1 _{— lim} (≤ ₁ ).

In the third embodiment, the kinematics calculation unit 314 uses the kinematics shown in formulas (6) to (8) to calculate the target bending angle θ _{n_ref} and the target turning angle ζ _{n_ref} output from the angle limiter 313. , _the driving amounts l _na , l nb and l nc of the na wire, _nb wire and nc wire of the n-th bending portion 120-n are calculated.

In the third embodiment, the wire control unit 315 compares the actual na wire, nb wire, and nc wire drive amounts with the drive amounts _lna , _lnb , and _lnc calculated by the kinematics calculator 314, respectively. A wire drive command 304 is output to each actuator so that

The control device 300 of the continuous robot control system 10-3 according to the third embodiment performs the following processing on the continuous robot 100 having a plurality of bending sections 120.

First, in the control device 300, the angle limit value estimating unit 311 (angle estimating means) detects the bending portions 120 after the plurality of bending portions 120 are inserted into the lumen of the subject (for example, the lungs of the subject). A bending section selection signal 307 (selection information), when the n-th bending portion 120-n is bent in a predetermined direction, the field of view of the imaging unit 140 includes a characteristic region related to the path of the lumen with a predetermined area or more. , the bending angle limit value θ _{n_lim} (ζ _n ) of the bending portion 120-n is estimated. Then, when the n-th bending portion 120-n is bent in the predetermined direction in the angle limiting portion 313 (angle limiting means), the control device 300 controls the bending angle limit value of the n-th bending portion 120-n. The driving of the actuator, which is the driving section, is limited so that the n-th bending section 120-n bends within the range of θ _{n_lim} (ζ _n ).

According to such a configuration, even in the continuous robot 100 having a plurality of bending sections 120, it is possible to prevent the feature area from deviating from the field of view of the imaging section 140 (camera image 610). As a result, it is possible to reduce the risk of operating the continuum robot 100 in a direction that strongly contacts the lumen of the subject.

(Other embodiments)
In the first to third embodiments described above, an example has been described in which the lungs of a subject such as a patient are assumed as the subject into which the bending portion 120 of the continuous body robot 100 is inserted, but the present invention is limited to this. not to be As the subject into which the bending portion 120 of the continuum robot 100 is inserted, an organ having a lumen (organ) other than the lungs may be applied. In addition, in the above-described first to third embodiments, an example has been described in which an examinee such as a patient is assumed as an object into which the bending portion 120 of the continuous body robot 100 is inserted, but the present invention is limited to this. It is also possible to target animals other than humans instead of animals. That is, the present invention also includes applying an organ having a lumen of an animal other than humans as a subject into which the bending portion 120 of the continuous robot 100 is inserted.

The present invention supplies a program that implements one or more functions of the above-described embodiments to a system or device via a network or a storage medium, and one or more processors in the computer of the system or device reads and executes the program. It can also be realized by processing to It can also be implemented by a circuit (for example, ASIC) that implements one or more functions.

This program and computer-readable storage media storing the program are included in the present invention.

It should be noted that the above-described embodiments of the present invention are merely examples of specific implementations of the present invention, and the technical scope of the present invention should not be construed to be limited by these. is. That is, the present invention can be embodied in various forms without departing from its technical concept or main features.

The present invention is not limited to the above embodiments, and various changes and modifications are possible without departing from the spirit and scope of the present invention. Accordingly, the following claims are included to publicize the scope of the invention.

This application claims priority based on Japanese Patent Application No. 2022-015558 filed on February 3, 2022, and the entire contents thereof are incorporated herein.

REFERENCE SIGNS LIST 10 continuum robot control system 100 continuum robot 101 tool channel 102 reference axis 110 long part 120 bending part 130 coil 140 imaging part 150 drive unit 200 linear stage 300 control device 400 input device 500 operation device 510 lever 600 image display device 610 Camera image 620 Navigation image

Claims (6)

1. A continuum comprising a bending portion that bends with respect to a reference axis by driving a linear member, a driving portion that drives the linear member, and an imaging portion that is arranged near the tip of the bending portion. robot and
   a control device for controlling the motion of the continuum robot;
   A continuum robot control system comprising:
   The control device is
   When bending the bending portion in a predetermined direction based on the tip position of the bending portion detected after the bending portion is inserted into the lumen of the subject and structural information of the lumen angle estimating means for estimating an angle limit value of the bending angle of the bending portion when a characteristic region related to the path of the lumen is included in the field of view of the imaging unit with a predetermined area or more;
   angle limiting means for limiting driving of the drive unit so that the bending portion bends within the range of the angle limit value when bending the bending portion in the predetermined direction;
   A continuum robot control system comprising:
2. The angle estimating means obtains the position and direction of the tip of the bending portion when the bending portion bends in the predetermined direction by a predetermined bending angle, and obtains the obtained position and direction of the tip of the bending portion, and The angle limit value is estimated by estimating an image acquired by the imaging unit based on the structural information of the lumen and determining whether the estimated image includes the characteristic region. The continuum robot control system according to claim 1.
3. further comprising a moving device for moving the continuous body robot forward and backward with respect to the subject;
   The control device is
   Movement for estimating a movement limit value in a movement amount by the moving device based on a tip position of the bending portion detected after the bending portion is inserted into the lumen and structural information of the lumen an estimating means;
   movement amount limiting means for limiting the amount of movement by the moving device so as to be within the range of the movement limit value;
   3. The continuum robot control system according to claim 1 or 2, further comprising:
4. The continuum robot includes a plurality of bending sections,
   The angle estimating means calculates a tip position of a distalmost bending portion among the plurality of bending portions detected after the plurality of bending portions are inserted into the lumen, and structural information of the lumen. and the selection information of one of the plurality of bending portions, when the one bending portion is bent in a predetermined direction, the characteristic region in the field of view of the imaging unit has a predetermined area or more. estimating an angle limit value for the bending angle of the one bending portion when included in
   The angle limiting means controls the driving portion so that the one bending portion bends within the range of the angle limit value of the one bending portion when bending the one bending portion in the predetermined direction. 4. The continuous body robot control system according to any one of claims 1 to 3, wherein the drive is limited.
5. The continuum robot further comprises a tool channel, which is a tubular path penetrating the interior of the curved portion and for inserting and withdrawing a tool,
   5. The continuous body robot control system according to any one of claims 1 to 4, wherein the imaging section is provided at a tip of an imaging tool inserted into the tool channel.
6. A continuum comprising a bending portion that bends with respect to a reference axis by driving a linear member, a driving portion that drives the linear member, and an imaging portion that is arranged near the tip of the bending portion. robot and
   a control device for controlling the motion of the continuum robot;
   A continuum robot control method by a continuum robot control system having
   The control device
   When bending the bending portion in a predetermined direction based on the tip position of the bending portion detected after the bending portion is inserted into the lumen of the subject and structural information of the lumen an angle estimating step of estimating an angle limit value of the bending angle of the bending portion when a characteristic region related to the path of the lumen is included in the field of view of the imaging unit with a predetermined area or more;
   an angle limiting step of limiting driving of the drive unit so that the bending portion bends within the range of the angle limit value when bending the bending portion in the predetermined direction;
   A continuum robot control method characterized by performing

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